1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
|
/***********************************************/
/**
* @file instrumentRotate.cpp
*
* @brief Rotate instrument data into a new reference frame.
*
* @author Torsten Mayer-Guerr
* @date 2017-06-15
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
This program rotates \file{instrument data}{instrument} into a new reference frame
(using \configFile{inputfileStarCamera}{instrument}).
The rotation is usually done from satellite frame into inertial frame.
To apply Earth rotation to orbits use \program{Orbit2EarthFixedOrbit}
For other instrument data use \program{InstrumentEarthRotation} before.
)";
/***********************************************/
#include "programs/program.h"
#include "files/fileInstrument.h"
/***** CLASS ***********************************/
/** @brief Rotate instrument data into a new reference frame.
* @ingroup programsGroup */
class InstrumentRotate
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(InstrumentRotate, PARALLEL, "Rotate instrument data into a new reference frame", Instrument)
/***********************************************/
void InstrumentRotate::run(Config &config, Parallel::CommunicatorPtr comm)
{
try
{
FileName fileNameOut, fileNameIn, fileNameStarCamera;
Bool inverseRotate;
readConfig(config, "outputfileInstrument",fileNameOut, Config::MUSTSET, "", "");
readConfig(config, "inputfileInstrument", fileNameIn, Config::MUSTSET, "", "");
readConfig(config, "inputfileStarCamera", fileNameStarCamera, Config::MUSTSET, "", "");
readConfig(config, "inverseRotate", inverseRotate, Config::DEFAULT, "1", "");
if(isCreateSchema(config)) return;
// read orbit and rotate
// ---------------------
logStatus<<"read and rotate data <"<<fileNameIn<<">"<<Log::endl;
InstrumentFile instrumentFile(fileNameIn);
InstrumentFile starCameraFile(fileNameStarCamera);
InstrumentFile::checkArcCount({instrumentFile, starCameraFile});
std::vector<Arc> arcList(instrumentFile.arcCount());
Parallel::forEach(arcList, [&](UInt arcNo)
{
Arc arc = instrumentFile.readArc(arcNo);
StarCameraArc starCamera = starCameraFile.readArc(arcNo);
Arc::checkSynchronized({arc, starCamera});
for(UInt i=0; i<arc.size(); i++)
{
Rotary3d rot = starCamera.at(i).rotary;
if(inverseRotate)
rot = inverse(rot);
if(arc.getType() == Epoch::ORBIT)
{
auto &epoch = dynamic_cast<OrbitEpoch&>(arc.at(i));
epoch.position = rot.rotate(epoch.position);
epoch.velocity = rot.rotate(epoch.velocity);
epoch.acceleration = rot.rotate(epoch.acceleration);
}
else if(arc.getType() == Epoch::ACCELEROMETER)
{
auto &epoch = dynamic_cast<AccelerometerEpoch&>(arc.at(i));
epoch.acceleration = rot.rotate(epoch.acceleration);
}
else if(arc.getType() == Epoch::GRADIOMETER)
{
auto &epoch = dynamic_cast<GradiometerEpoch&>(arc.at(i));
epoch.gravityGradient = rot.rotate(epoch.gravityGradient);
}
else if(arc.getType() == Epoch::COVARIANCE3D)
{
auto &epoch = dynamic_cast<Covariance3dEpoch&>(arc.at(i));
epoch.covariance = rot.rotate(epoch.covariance);
}
else if(arc.getType() == Epoch::VECTOR3D)
{
auto &epoch = dynamic_cast<Vector3dEpoch&>(arc.at(i));
epoch.vector3d = rot.rotate(epoch.vector3d);
}
else
throw(Exception("rotation for "+arc.getTypeName()+" not implemented"));
}
return arc;
}, comm); // forEach
if(Parallel::isMaster(comm))
{
logStatus<<"write data to file <"<<fileNameOut<<">"<<Log::endl;
InstrumentFile::write(fileNameOut, arcList);
Arc::printStatistics(arcList);
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
|
